Upload folder using huggingface_hub

README.md

@@ -0,0 +1,15 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_dataset
+
+**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
+
+This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:265b3cba39434f5bf5697840d95453e10b3d6da9de504d9d365bb27528079c25
+size 6500

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["None"],"length":81}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.009206132318211848, 0.15957296018233869, 0.007671776931843207, 0.029152752341004187, -0.0030687107727372827, 1.6279510649371285, -0.007671776931843207, 0.03989324004558467, 0.015343553863686413, 0.018412264636423696, -0.0030687107727372827, 1.6693786603690817], "min": [0.009206132318211848, 0.15957296018233869, 0.007671776931843207, 0.029152752341004187, -0.004603066159105924, 1.6279510649371285, -0.007671776931843207, 0.03989324004558467, 0.015343553863686413, 0.018412264636423696, -0.0030687107727372827, 1.6693786603690817], "mean": [0.00920613231821185, 0.15957296018233846, 0.007671776931843212, 0.029152752341004184, -0.003125538750010199, 1.6279510649371254, -0.007671776931843212, 0.039893240045584616, 0.015343553863686424, 0.0184122646364237, -0.0030687107727372866, 1.6693786603690801], "std": [2.0163725218373318e-10, 1.037076928248633e-08, 0.0, 0.0, 0.0002897669650325668, 7.884953353001448e-08, 0.0, 2.5926923206215825e-09, 0.0, 4.0327450436746636e-10, 0.0, 2.1073424255447017e-08], "count": [81]}, "action": {"max": [0.009206132318211848, 0.15957296018233869, 0.007671776931843207, 0.029152752341004187, -0.0030687107727372827, 1.6279510649371285, -0.007671776931843207, 0.03989324004558467, 0.015343553863686413, 0.018412264636423696, -0.0030687107727372827, 1.6693786603690817], "min": [0.009206132318211848, 0.15957296018233869, 0.007671776931843207, 0.029152752341004187, -0.004603066159105924, 1.6279510649371285, -0.007671776931843207, 0.03989324004558467, 0.015343553863686413, 0.018412264636423696, -0.0030687107727372827, 1.6693786603690817], "mean": [0.00920613231821185, 0.15957296018233846, 0.007671776931843212, 0.029152752341004184, -0.003125538750010199, 1.6279510649371254, -0.007671776931843212, 0.039893240045584616, 0.015343553863686424, 0.0184122646364237, -0.0030687107727372866, 1.6693786603690801], "std": [2.0163725218373318e-10, 1.037076928248633e-08, 0.0, 0.0, 0.0002897669650325668, 7.884953353001448e-08, 0.0, 2.5926923206215825e-09, 0.0, 4.0327450436746636e-10, 0.0, 2.1073424255447017e-08], "count": [81]}, "timestamp": {"max": [13.239039141917601], "min": [0.0015061870217323303], "mean": [6.701907278452483], "std": [3.893179066127614], "count": [81]}, "frame_index": {"max": [80], "min": [0], "mean": [40.0], "std": [23.38090388900024], "count": [81]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [81]}, "index": {"max": [80], "min": [0], "mean": [40.0], "std": [23.38090388900024], "count": [81]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [81]}, "observation.images.main": {"max": [[[0.9843137264251709]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.500758142039609]], [[0.5004009130658437]], [[0.49023055716306585]]], "std": [[[0.2573295176376052]], [[0.2685335344987676]], [[0.28252419820254193]]], "count": [6220800]}, "observation.images.secondary_0": {"max": [[[0.9490196108818054]], [[0.9921568632125854]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4533873858667695]], [[0.4460798852237654]], [[0.41867312082047325]]], "std": [[[0.24590344462075311]], [[0.2492397465180461]], [[0.25922912025364026]]], "count": [6220800]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.00018233707412280173]], [[0.0002678024229198817]], [[0.5371312371399177]]], "std": [[[0.01119298985142175]], [[0.01431180970678904]], [[0.03427625421027709]]], "count": [6220800]}}}

meta/info.json

@@ -0,0 +1,153 @@
+{
+    "robot_type": "so-100, so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 81,
+    "total_tasks": 1,
+    "total_videos": 3,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_1_secondary",
+                "motor_2_secondary",
+                "motor_3_secondary",
+                "motor_4_secondary",
+                "motor_5_secondary",
+                "motor_6_secondary"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_1_secondary",
+                "motor_2_secondary",
+                "motor_3_secondary",
+                "motor_4_secondary",
+                "motor_5_secondary",
+                "motor_6_secondary"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_0": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_1": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index":0,"task":"None"}

videos/chunk-000/observation.images.main/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4be565b419186ee2eb84e3788a5f07b77624044fe642070e6c8271f5e47dec9
+size 27609

videos/chunk-000/observation.images.secondary_0/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4285e72f5d70ceabfc3e1364e38c97897a9cbd0e7d2b504d2908f77898a9db7a
+size 42074

videos/chunk-000/observation.images.secondary_1/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b713fd69ed5d172f80ddc0021ec28951f015c2612923ea7703199783678c6498
+size 34964